Mitsubishi Electric MR-J4 Instruction Manual page 495

16. FULLY CLOSED LOOP SYSTEM
(a) When using a linear encoder (unit setting: mm)
Calculate the number of pulses (AP) and travel distance (AL) of the linear encoder per ball screw
revolution in the following conditions.
Ball screw lead: 20 mm
Linear encoder resolution: 0.05 µm
Number of linear encoder pulses (AP) per ball screw revolution
= Ball screw lead/linear encoder resolution= 20 mm/0.05 µm = 400000 pulses
Number of pulses per revolution [pulse] (AP)
Travel distance per revolution [µm] (AL)
(b) When using a rotary encoder (unit setting: degree)
User
Command
[degree]
Position feedback
[degree]
Speed feedback
[r/min]
Calculate the number of pulses (AP) and travel distance (AL) of the rotary encoder per servo motor
revolution in the following conditions.
Resolution of rotary encoder = Load-side resolution: 4194304 pulses/rev
Number of pulses per revolution [pulse] (AP)
Travel distance per revolution [degree] (AL)
User Control
Command AP
[mm]
AL
AL
Position feedback
[mm] AP
Speed feedback
[r/min]
Load-side encoder resolution unit
Control Servo amplifier
+
AP
AL
-
AL
AP
Differentiation
Load-side encoder
resolution unit
16 - 20
Load-side encoder resolution unit
Servo amplifier
+
-
Electronic
gear
Differentiation
Load-side encoder
Servo motor speed
resolution unit
400000 pulses
= =
20 mm
Electronic
Servo motor
gear
Servo motor speed
4194304 pulses
=
360 degrees
Servo motor Linear encoder
400000
20000
Rotary encoder
(HG-KR or HG-MR servo motor)
4194304 pulses/rev
524288
=
45